CN111498513A - PP sheet taking device and method - Google Patents

Abstract

The invention discloses a PP sheet reclaiming device, which comprises a frame. The frame is provided with a PP sheet feeding mechanism, a pre-stacking table and a sliding bearing frame. A PP sheet feeding mechanism is placed on the PP sheet feeding mechanism, and the sliding bearing There is a PP reclaiming manipulator on the frame. The PP reclaiming manipulator includes a reclaiming slide table and a reclaiming translation drive mechanism for driving the reclaiming slide to slide left and right. Two reclaiming and lifting cylinders are fixed on the reclaiming slide. The reclaiming lift cylinder is used to drive a reclaiming arm to rise or fall. The reclaiming arm is fixed with a long reclaiming suction claw. The two reclaiming suction claws are parallel to each other, and the two take The edges of the two sides of the PP sheet are aligned, and the reclaiming claw is fixed with a plurality of reclaiming nozzles for adsorbing the PP sheet, and the plurality of reclaiming suction nozzles are arranged in sequence along the length of the reclaiming claw. The invention can improve work efficiency, reduce labor cost and have more automatic performance.

Description

A PP sheet reclaiming device and method

technical field

The invention relates to circuit board production equipment, in particular to a PP sheet reclaiming device and method.

Background technique

The circuit board, also known as the PCB board, is an indispensable equipment in the current electronic and electrical equipment, and is also an important material to materialize the circuit principle. In the prior art, a circuit board generally includes a multi-layer structure such as a PP sheet and a core board that are stacked in layers. During the production process of the circuit board, it is necessary to pre-laminate the PP sheet and the core board and other multi-layer structures, and then press them together. processing. At present, for the PP sheet raw materials placed in multiple layers, the common method of reclaiming the material is to manually reclaim the material with the help of tools. This method of reclaiming has low work efficiency and high labor cost, and cannot be used in the circuit board material layer pre-lamination automation equipment. Promote the application.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a PP sheet reclaiming device and method that can improve work efficiency, reduce labor costs, and have more automatic performance in view of the deficiencies of the prior art.

In order to solve the above technical problems, the present invention adopts the following technical solutions.

A PP sheet reclaiming device, which comprises a frame, on which a PP sheet feeding mechanism, a pre-stacking table and a sliding carrier are arranged, a PP sheet is placed on the PP sheet feeding mechanism, and the sliding A PP reclaiming manipulator is arranged on the moving carrier, and the PP reclaiming manipulator includes a reclaiming sliding table and a reclaiming translation drive mechanism for driving the reclaiming sliding table to slide left and right, and the reclaiming sliding table is fixed on the There are two reclaiming and lifting cylinders. The reclaiming and lifting cylinders are used to drive a reclaiming arm to rise or fall. The reclaiming arm is fixed with a long strip of reclaiming suction claws, and two reclaiming suction claws. They are parallel to each other, and the two reclaiming suction claws are respectively aligned with the edges of the two sides of the PP sheet. A plurality of reclaiming suction nozzles for absorbing PP sheets are fixed on the reclaiming suction claws. The nozzles are arranged in sequence along the length direction of the reclaiming claw, and the PP sheet is picked up by negative pressure adsorption through the cooperation of the reclaiming translation drive mechanism, the reclaiming lift cylinder and the reclaiming nozzle. The PP sheet on the feeding mechanism is transferred to the pre-stacking table.

Preferably, a shaking cylinder is fixed on the shell of the reclaiming and lifting cylinder, the reclaiming arm is arranged on the shaking cylinder, and the shaking cylinder drives the reclaiming arm to ascend or descend.

Preferably, the telescopic shaft of the shaking cylinder is fixedly connected to the casing of the reclaiming lifting cylinder, the casing of the shaking cylinder is fixedly connected to the vertical part of the reclaiming arm, and the reclaiming suction claw is fixedly connected. It is fixedly connected with the horizontal part of the reclaiming arm.

A PP sheet reclaiming method, the reclaiming method is realized based on a reclaiming device, the reclaiming device includes a frame, and the frame is provided with a PP sheet feeding mechanism, a pre-stacking table and a sliding carrier frame , a PP sheet is placed on the PP sheet feeding mechanism, and a PP reclaiming manipulator is arranged on the sliding carrier frame. Sliding reclaiming translation drive mechanism, two reclaiming lifting cylinders are fixed on the reclaiming sliding table, the reclaiming lifting cylinders are used to drive a reclaiming arm to rise or fall, and the reclaiming arm is fixed on the There are long strip-shaped reclaiming claws, the two reclaiming claws are parallel to each other, and the two reclaiming claws are respectively aligned with the edges on both sides of the PP sheet, and a plurality of reclaiming claws are fixed on the reclaiming claws A reclaiming nozzle for adsorbing PP sheets, a plurality of reclaiming nozzles are arranged in sequence along the length direction of the reclaiming claw, and the reclaiming method includes: step S10, the reclaiming translation drive mechanism drives the The reclaiming sliding platform translates until the reclaiming claw moves to the top of the PP sheet feeding mechanism; in step S11, the reclaiming lift cylinder drives the reclaiming arm and the reclaiming claw to descend, so that the The reclaiming nozzle is close to the PP sheet on the PP sheet feeding mechanism; in step S12, the reclaiming nozzle inhales and generates negative pressure, and uses the negative pressure to adsorb the PP sheet on the top layer on the two reclaiming suctions. on the paw. Step S13, the reclaiming lifting cylinder drives the reclaiming arm and the reclaiming suction claw to rise, and takes out the PP sheet on the top layer from the PP sheet feeding mechanism; Step S14, the reclaiming translation drive The mechanism drives the reclaiming sliding platform to translate until the reclaiming claw moves to the top of the pre-stacking platform; in step S15, the reclaiming lift cylinder drives the reclaiming arm and the reclaiming claw to descend , until the PP sheet is placed on the pre-stacking table, and then the reclaiming nozzle stops sucking; in step S16, the reclaiming lift cylinder drives the reclaiming arm and the reclaiming suction claw to rise, The reclaiming nozzle is separated from the PP sheet, and then the PP sheet is left on the pre-stacking table.

Preferably, the step S13 further includes a shaking step: after the reclaiming lifting cylinder drives the reclaiming support arm and the reclaiming suction claw to rise, the reclaiming translation drive mechanism drives the reclaiming sliding table Shaking left and right.

Preferably, a shaking cylinder is provided on the reclaiming and lifting cylinder, and the reclaiming arm is arranged on the shaking cylinder, and the shaking cylinder drives the reclaiming arm to ascend or descend, and the shaking step Middle: The reclaiming support arm and the reclaiming claw are driven to shake up and down by the shaking cylinder, and the excess PP pieces absorbed by the reclaiming nozzle are shaken off the PP sheet feeding mechanism.

The PP sheet reclaiming device disclosed in the present invention, in the execution process, firstly drives the reclaiming sliding platform to translate by the reclaiming translation drive mechanism, until the reclaiming suction claw translates above the PP sheet feeding mechanism, Then the reclaiming lifting cylinder drives the reclaiming arm and the reclaiming suction claw to descend, so that the reclaiming suction nozzle is close to the PP sheet on the PP sheet feeding mechanism. At this time, the reclaiming suction The nozzle inhales and generates negative pressure, and the PP sheet on the top layer is adsorbed on the two reclaiming claws by the negative pressure. Next, the reclaiming lift cylinder drives the reclaiming arm and the reclaiming claws. Lift up, and take out the PP sheet on the top layer from the PP sheet feeding mechanism, and then the reclaiming sliding table is driven by the reclaiming translation drive mechanism to translate until the reclaiming claw translates to the pre-stacking table. Then, the reclaiming lifting cylinder drives the reclaiming arm and the reclaiming suction claw to descend until the PP sheet is placed on the pre-stack, then the reclaiming nozzle stops inhaling, and finally , the reclaiming nozzle is separated from the PP sheet, and then the PP sheet is left on the pre-stacking table. Based on the above process, the present invention better completes the PP sheet reclaiming process. Compared with the prior art, the present invention has stronger automation performance and does not require personnel to participate in the reclaiming process, thereby saving labor costs and helping to It is used flexibly in the automation equipment for pre-lamination of circuit board material layers.

Description of drawings

Fig. 1 is the overall structure diagram of circuit board material layer pre-lamination equipment;

Figure 2 is a structural diagram of a PP sheet feeding mechanism;

Fig. 3 is the structure diagram of PP reclaiming manipulator;

Figure 4 is a side view of a PP reclaiming manipulator;

Fig. 5 is the bottom view of the core board transfer manipulator;

Fig. 6 is the side view of the core board transfer manipulator;

7 is a structural diagram of a transfer table;

Figure 8 is a side view of the pre-stack;

Figure 9 is a structural diagram 1 of the core board feeding mechanism and the paper separator feeding mechanism;

Figure 10 is a structural diagram 2 of the core board feeding mechanism and the paper separator feeding mechanism;

Figure 11 is a structural diagram of a core board transfer robot, a core board feeding robot and a paper separator blanking robot;

Figure 12 is a top view of the core board feeding manipulator;

Figure 13 is a front view of the core board feeding manipulator;

Figure 14 is a side view of the core board feeding manipulator;

Figure 15 is a side view of the core material cart.

Detailed ways

The present invention will be described in more detail below with reference to the accompanying drawings and embodiments.

Example 1

This embodiment proposes a PP sheet reclaiming device, as shown in FIG. 1 to FIG. 4 , which includes a frame 1, and the frame 1 is provided with a PP sheet feeding mechanism 2, a pre-stacking table 3 and a sliding The carrier 7, the PP sheet feeding mechanism 2 is placed with a PP sheet 100, the sliding carrier 7 is provided with a PP reclaiming manipulator 8, and the PP reclaiming manipulator 8 includes a reclaiming slide 80 and a In the reclaiming translation drive mechanism 81 that drives the reclaiming slide 80 to slide left and right, two reclaiming and lifting cylinders 82 are fixed on the reclaiming slide 80, and the reclaiming and lifting cylinders 82 are used to drive a reclaimer. The support arm 83 rises or falls, the reclaiming support arm 83 is fixed with a long reclaiming suction claws 84, the two reclaiming suction claws 84 are parallel to each other, and the two reclaiming suction claws 84 are respectively connected to the PP The edges of the two sides of the sheet 100 are aligned, and the reclaiming claw 84 is fixed with a plurality of reclaiming suction nozzles 85 for adsorbing the PP sheet 100 . They are arranged in sequence in the length direction. With the cooperation of the reclaiming translation drive mechanism 81, the reclaiming lift cylinder 82 and the reclaiming suction nozzle 85, the PP sheets on the PP sheet feeding mechanism 2 are picked up by negative pressure adsorption. The sheet 100 is removed, and the PP sheet 100 is transferred to the pre-stacking table 3 .

During the implementation of the above device, the reclaiming sliding table 80 is first driven by the reclaiming translation drive mechanism 81 to translate until the reclaiming claw 84 is moved to the top of the PP sheet feeding mechanism 2, and then the reclaiming The material lifting cylinder 82 drives the reclaiming arm 83 and the reclaiming suction claw 84 to descend, so that the reclaiming suction nozzle 85 is close to the PP sheet 100 on the PP sheet feeding mechanism 2. The material suction nozzle 85 inhales and generates negative pressure, and the PP sheet 100 located on the top layer is adsorbed on the two material suction claws 84 by the negative pressure. Next, the material withdrawal lifting cylinder 82 drives the material withdrawal support arm 83 And the reclaiming suction claw 84 rises, and the PP sheet 100 on the top layer is taken out from the PP sheet feeding mechanism 2, and then the reclaiming sliding table 80 is driven by the reclaiming translation drive mechanism 81 to translate until all the The reclaiming claw 84 is translated to the top of the pre-stacking table 3, and then the reclaiming lifting cylinder 82 drives the reclaiming arm 83 and the reclaiming claw 84 to descend until the PP sheet 100 is placed on the In the pre-stacking table 3, the reclaiming nozzle 85 stops sucking, and finally, the reclaiming nozzle 85 is separated from the PP sheet 100, and then the PP sheet 100 is left on the pre-stacking table 3 on. Based on the above process, the present invention better completes the PP sheet reclaiming process. Compared with the prior art, the present invention has stronger automation performance and does not require personnel to participate in the reclaiming process, thereby saving labor costs and helping to It is used flexibly in the automation equipment for pre-lamination of circuit board material layers.

Further, the material reclaiming translation driving mechanism 81 is a motor screw driving mechanism.

In this embodiment, the telescopic shaft of the reclaiming lift cylinder 82 is fixedly connected to the reclaiming slide table 80 , and the reclaiming arm 83 is driven up or down by the casing of the reclaiming lift cylinder 82 .

In order to avoid taking away the multi-layer PP sheets that are adhered to each other at the same time, in this embodiment, a shaking step is preferably arranged, which specifically means that a shaking cylinder 86 is fixed on the shell of the reclaiming and lifting cylinder 82, and the reclaiming arm 83 is provided with a shaking cylinder 86. On the shaking cylinder 86 , the reclaiming arm 83 is driven to rise or fall by the shaking cylinder 86 .

Further, the reclaiming arm 83 is "L" shaped

As a preferred way, the telescopic shaft of the shaking cylinder 86 is fixedly connected to the casing of the reclaiming lifting cylinder 82 , and the casing of the shaking cylinder 86 is fixedly connected to the vertical part of the reclaiming support arm 83 . , the reclaiming suction claw 84 is fixedly connected with the horizontal part of the reclaiming support arm 83 .

In order to realize batch reclaiming, in this embodiment, the PP sheet feeding mechanism 2 includes two PP sheet feeding tables 20, and the two PP sheet feeding tables 20 are arranged up and down with a preset distance between them. There are two PP reclaiming robots 8 on the sliding carrier 7, two PP reclaiming robots 8 are arranged up and down, and the PP reclaiming robots 8 are in one-to-one correspondence with the PP sheet feeding table 20. The picking robot 8 picks up the PP sheets 100 from the two PP sheet feeding tables 20 respectively and places them on the pre-stacking table 3 according to a preset stacking sequence. The above-mentioned structural design can not only save space, but also utilize two PP reclaiming robots 8 to alternately reclaim materials, which helps to improve production efficiency.

In practical applications, both PP sheets can be placed on the two PP sheet feeding tables 20, and other types of material sheets can also be placed. Therefore, even if the PP sheets in this embodiment are replaced with other material sheets, it should belong to the present invention. protected range.

In order to better describe the technical solution of this embodiment, this embodiment also proposes a PP sheet reclaiming method. With reference to FIGS. 1 to 4 , the reclaiming method is implemented based on a reclaiming device. The feeding device includes a frame 1, which is provided with a PP sheet feeding mechanism 2, a pre-stacking table 3 and a sliding carrier 7, and a PP sheet 100 is placed on the PP sheet feeding mechanism 2. The moving carrier 7 is provided with a PP reclaiming manipulator 8, and the PP reclaiming manipulator 8 includes a reclaiming slide 80 and a reclaiming translation drive mechanism 81 for driving the reclaiming slide 80 to slide left and right. Two reclaiming and lifting cylinders 82 are fixed on the reclaiming sliding table 80. The reclaiming and lifting cylinders 82 are used to drive a reclaiming support arm 83 to rise or fall. The reclaiming suction claws 84, the two reclaiming suction claws 84 are parallel to each other, and the two reclaiming suction claws 84 are respectively aligned with the edges on both sides of the PP sheet 100, and a plurality of reclaiming suction claws 84 are fixed on the The reclaiming nozzles 85 for adsorbing the PP sheet 100, a plurality of reclaiming nozzles 85 are arranged in sequence along the length direction of the reclaiming claws 84, and the reclaiming method includes:

Step S10, the reclaiming translation drive mechanism 81 drives the reclaiming sliding table 80 to translate until the reclaiming suction claw 84 translates above the PP sheet feeding mechanism 2;

In step S11, the reclaiming lift cylinder 82 drives the reclaiming arm 83 and the reclaiming suction claw 84 to descend, so that the reclaiming suction nozzle 85 is close to the PP sheet 100 on the PP sheet feeding mechanism 2. ;

In step S12 , the reclaiming suction nozzle 85 inhales and generates negative pressure, and the PP sheet 100 on the top layer is adsorbed on the two reclaiming suction claws 84 by the negative pressure.

Step S13, the reclaiming lift cylinder 82 drives the reclaiming support arm 83 and the reclaiming suction claw 84 to rise, and takes out the PP sheet 100 on the top layer from the PP sheet feeding mechanism 2;

In step S14, the reclaiming translation drive mechanism 81 drives the reclaiming sliding table 80 to translate until the reclaiming suction claws 84 move to the top of the pre-stacking platform 3;

Step S15, the reclaiming lift cylinder 82 drives the reclaiming arm 83 and the reclaiming suction claw 84 to descend until the PP sheet 100 is placed on the pre-stack 3, and then the reclaiming suction nozzle 85 stop breathing;

Step S16, the reclaiming lift cylinder 82 drives the reclaiming arm 83 and the reclaiming suction claw 84 to rise, the reclaiming suction nozzle 85 is separated from the PP sheet 100, and then the PP sheet 100 is separated. left on the pre-stack 3 .

As a preferred way, the step S13 further includes a shaking step:

After the reclaiming lifting cylinder 82 drives the reclaiming support arm 83 and the reclaiming suction claw 84 to rise, the reclaiming translation drive mechanism 81 drives the reclaiming sliding table 80 to shake left and right.

Further, a shaking cylinder 86 is provided on the reclaiming lifting cylinder 82, and the reclaiming arm 83 is arranged on the shaking cylinder 86, and the reclaiming arm 83 is driven by the shaking cylinder 86 to rise or drop, the dither step:

The shaking cylinder 86 is used to drive the reclaiming arm 83 and the reclaiming suction claw 84 to shake up and down, and the excess PP sheet 100 adsorbed by the reclaiming suction nozzle 85 is shaken off by the coordination of the left and right shaking and the up and down shaking. On the PP sheet feeding mechanism 2.

Embodiment 2

This embodiment proposes a circuit board material layer pre-stacking device. As shown in FIGS. 1 to 11 , it includes a frame 1 , and a PP sheet feeding mechanism 2 is arranged on the frame 1 in sequence from left to right. , the pre-stacking table 3, the transfer table 4, the core board feeding mechanism 5 and the paper separator feeding mechanism 6, the frame 1 is also provided with a left and right sliding bearing frame 7, the sliding bearing frame 7 is From left to right, there are PP reclaiming manipulator 8, core board transfer manipulator 9, core board feeding manipulator 10 and paper separator unloading manipulator 11 in sequence, and the PP reclaiming manipulator 8 is used to feed the PP sheet from the PP sheet feeding mechanism 2 Pick up the PP sheet 100 and place it on the pre-stacking table 3, the core board feeding robot 10 is used to pick up the core board from the core board feeding mechanism 5 and place it on the transfer table 4, the spacer The paper unloading robot 11 is used to pick up the spacer paper between two core boards from the core board feeding mechanism 5 and place it on the spacer paper unloading mechanism 6, and the core board transfer robot 9 is used to transfer the paper from the core board. The core board is picked up on the transfer table 4 and placed on the pre-stacking table 3. Through the cooperation of the PP reclaiming manipulator 8, the core board transfer manipulator 9, the core board feeding manipulator 10 and the paper separator blanking manipulator 11, the The PP sheet 100 and the chips are stacked on the pre-stacking table 3 according to a preset stacking sequence.

In the actual application process of the above equipment, according to the hierarchical structure of the circuit board, the PP sheet reclaiming step, the core board reclaiming step, the paper separator blanking step and the core board can be started according to the preset execution sequence. In the transfer step, during the execution of the above process, the PP sheet 100 and the described PP sheet 100 and the The chips are stacked on the pre-stacking table 3 according to a preset stacking sequence. Compared with the prior art, the present invention does not require manual operation, which greatly reduces the labor intensity of personnel, effectively saves labor costs and improves production efficiency. The error rate is improved, and the product quality of the circuit board is improved.

In order to better pick up PP sheets, in this embodiment, the PP reclaiming manipulator 8 picks up the PP sheets 100 by means of negative pressure adsorption, and both the core board transfer manipulator 9 and the core board feeding manipulator 10 pass the negative pressure. The core board is picked up by suction, and the separator paper is picked up by the separator paper feeding manipulator 11 by negative pressure suction.

Further, a material cart 12 is included, and the material cart 12 transfers the preset core board feeding box 50 to the core board feeding mechanism 5 and transfers the preset paper separator unloading box 60 to the bottom of the separator paper. Feeding mechanism 6.

Regarding the specific structure of the core board transfer robot 9, in this embodiment, the core board transfer robot 9 includes a transfer slide table 90 and a transfer translation drive mechanism 95 for driving the transfer slide table 90 to slide left and right. A transfer lift cylinder 91 is fixed on the transfer slide table 90. The transfer lift cylinder 91 is used to drive the two transfer arms 92 to ascend or descend, and a long transfer suction claw 93 is fixed on the transfer arms 92. The two transfer suction claws 93 are parallel to each other, and the two transfer suction claws 93 are respectively aligned with the edges on both sides of the core board. A plurality of transfer suction claws for sucking the core board are fixed on the transfer suction claws 93 . Nozzle 94, a plurality of transfer suction nozzles 94 are arranged in sequence along the length direction of the transfer suction claw 93, through the transfer translation drive mechanism 95, the transfer lift cylinder 91, the transfer suction claw 93 and the transfer suction With the cooperation of the nozzles 94 , the core boards on the transfer table 4 are picked up by means of negative pressure suction, and the core boards are transferred to the pre-stacking table 3 .

In order to position the core board and align the core board transfer robot 9 with the core board on the transfer table 4 , in this embodiment, the transfer table 4 is provided with a plurality of positioning slot holes 40 , a plurality of positioning slots 40 are evenly distributed along the circumferential direction of the transfer table 4, a support base 41 is arranged below the transfer table 4, and the transfer table 4 is fixed on the support seat 41, and the support The seat 41 is provided with four movable blocks 42 and a positioning and clamping drive mechanism 43 for driving the four movable blocks 42 away from each other or relatively close to each other. The four movable blocks 42 are symmetrically arranged around the transfer table 4. A plurality of positioning fingers 420 are formed on the top of the movable block 42. The positioning fingers 420 are aligned with the positioning slot holes 40 one by one. The positioning fingers 420 pass through the positioning slot holes 40 and protrude upward, and the positioning fingers 420 The positioning fingers 420 can move in the positioning slots 40 . When the core board is placed on the transfer table 4 , the positioning and clamping driving mechanism 43 drives the four movable blocks 42 to be relatively close. The positioning fingers 420 around the board position the core board on the transfer table 4 .

Further, the positioning slot 40 is an elongated slot.

In order to improve the PP sheet feeding efficiency, in this embodiment, the PP sheet feeding mechanism 2 includes two PP sheet feeding tables 20, and the two PP sheet feeding tables 20 are arranged up and down with a preset distance between them, so The sliding carrier 7 is provided with two PP reclaiming manipulators 8, two PP reclaiming manipulators 8 are arranged up and down, and the PP reclaiming manipulators 8 are in one-to-one correspondence with the PP sheet feeding table 20. The PP picking robot 8 picks up the PP sheets 100 from the two PP sheet feeding tables 20 respectively and places them on the pre-stacking table 3 according to a preset stacking sequence.

As a preferred way, the PP sheet feeding table 20 is provided with a first load cell, and the first load cell is used to collect the weight of the multilayer PP sheet 100 and feed it back to a preset value in the form of an electrical signal. controller. In practical applications, two or more pieces of PP sheet may stick to each other when the material is taken out. When one layer of the multi-layer PP sheet 100 is taken out each time, the weight value fed back by the first load cell will decrease. , the controller can judge whether the PP reclaiming manipulator 8 takes multiple PP sheets at the same time according to the weight difference before and after the PP sheet is taken away, and if multiple PP sheets are taken at the same time, the controller will issue an alarm in time .

In this embodiment, the frame 1 is provided with a pre-stack material lifting mechanism 30, the pre-stacking table 3 is provided at the lifting end of the pre-stack material lifting mechanism 30, and the controller is used to The thickness of the material stacked on the table 3 controls the lifting and lowering of the pre-stacked material lifting mechanism 30 in real time, and further controls the vertical height of the pre-stacking table 3 . In practical applications, when each layer is stacked, its overall thickness will increase accordingly. In order to ensure that the height position of the top layer is constant, in this embodiment, the pre-stack material lifting mechanism 30 is used to drive the pre-stack table 3 to move slightly up and down, so that the The height of the top layer after stacking remains constant for better coordination with each robot.

In order to better describe the technical solution of the present invention, the present invention also discloses a pre-lamination process of circuit board material layers. With reference to FIG. 1 to FIG. 11 , the process is realized based on a device, and the device includes organic Frame 1, the frame 1 is provided with a PP sheet feeding mechanism 2, a pre-stacking table 3, a transfer table 4, a core board feeding mechanism 5 and a paper separator feeding mechanism 6 sequentially from left to right. There is also a sliding carrier 7 arranged on the left and right, and the sliding carrier 7 is sequentially provided with a PP reclaiming manipulator 8, a core board transfer manipulator 9, a core board feeding manipulator 10 and a paper separator from left to right. The material manipulator 11, the process includes:

PP sheet reclaiming step: using the PP reclaiming manipulator 8 to pick up the PP sheet 100 from the PP sheet feeding mechanism 2 and place it on the pre-stacking table 3;

The core board picking step: using the core board feeding manipulator 10 to pick up the core board from the core board feeding mechanism 5 and place it on the transfer table 4;

The step of separating paper blanking: using the paper separating manipulator 11 to pick up the separating paper between the two core plates from the core board feeding mechanism 5 and placing it in the separating paper blanking mechanism 6;

The core board transfer step: using the core board transfer robot 9 to pick up the core board from the transfer table 4 and place it on the pre-stacking table 3;

By controlling the execution sequence of the PP sheet reclaiming step, the core board reclaiming step, the separating paper blanking step, and the core board transferring step, the PP reclaiming manipulator 8 and the core board transferring manipulator 9 , The cooperation of the core board feeding robot 10 and the separator feeding robot 11 , the PP sheet 100 and the chips are stacked on the pre-stacking table 3 according to a preset stacking sequence.

Embodiment 3

At present, due to the influence of static electricity and other factors during the stacking process of multiple PP sheets, two or more PP sheets are usually taken out at the same time when taking materials. Once the number of PP sheets taken out is wrong, the direct As a result, the circuit board is scrapped, the error rate and error rate are high, and it is difficult to meet the production requirements.

In this regard, this embodiment proposes a PP sheet feeding mechanism that can avoid taking multiple PP sheets by mistake due to electrostatic adsorption, thereby improving the accuracy of the reclaiming action and helping to improve the yield of circuit boards. Please refer to Figure 1 2, the PP sheet feeding mechanism 2 includes a square PP sheet feeding table 20, and four stoppers 21 are fixed on the PP sheet feeding table 20, and the four blocks 21 are respectively close to the PP sheet feeding table. At the four edges of the 20, the four blocks 21 are used to place the multi-layered PP sheets 100. The PP sheet feeding table 20 is provided with a static elimination device for blowing negative ion wind to the PP sheet 100. Agency 23.

In the above structure, four stoppers 21 are provided on the PP sheet feeding table 20, and the four stoppers 21 play the role of resisting the PP sheet from all around, and then play a positioning role for the PP sheet before taking the material, and at the same time. A static elimination mechanism 23 is arranged on the diagonally above the PP sheet feeding table 20. The static elimination mechanism 23 is used for blowing negative ion wind to the PP sheet 100, and the negative ion wind plays a role in eliminating static electricity on the PP sheet. During the reclaiming process of the manipulator, it can avoid the situation of taking multiple PP sheets at the same time due to electrostatic adsorption, which greatly improves the accuracy and reliability of the reclaiming step, and better improves the yield of circuit boards, thereby satisfying the production requirements. Require.

As a preferred manner, the block 21 is a long block, and the block 21 extends along the edge of the PP sheet feeding table 20 .

When the multi-layer PP sheet raw material is put in, in order to facilitate the discharge of the bottom air flow, the multi-layer PP sheet can accurately fall between the four blocks 21. In this embodiment, the PP sheet feeding table 20 is provided with a hollow hole 200. , the hollow hole 200 runs through the upper and lower sides of the PP sheet feeding table 20 .

In order to support and fix the PP sheet feeding table 20, in this embodiment, the PP sheet feeding mechanism 2 includes a vertical bracket 22, and the PP sheet feeding table 20 is fixed on the vertical bracket 22 .

In order to realize batch feeding, in this embodiment, two PP sheet feeding tables 20 arranged up and down are fixed on the vertical support 22 , and a preset distance is set between the two PP sheet feeding tables 20 .

Regarding the specific structure of the static elimination mechanism 23, in this embodiment, the static elimination mechanism 23 includes an air outlet box 230, the air outlet box 230 is connected with a negative ion air source, and the air outlet box 230 is provided with A plurality of blowing nozzles 231 are provided, and the blowing nozzles 231 face the PP sheet feeding table 20 .

In order to expand the blowing range of the negative ion wind, in this embodiment, the air outlet box 230 is elongated, and a plurality of air blowing nozzles 231 are sequentially distributed along the length direction of the air outlet box 230 .

As a preferred manner, the static elimination mechanism 23 includes a U-shaped bracket 232 , and the air outlet box 230 is mounted on the U-shaped bracket 232 .

In order to facilitate adjustment of the blowing direction, in this embodiment, two ends of the U-shaped bracket 232 are respectively provided with hinge pieces 233 that can rotate within a preset angle, and two ends of the air outlet box 230 are respectively connected with two hinge pieces 233 fixed connection.

In this embodiment, two L-shaped bearing frames 24 arranged up and down are fixed on the vertical support 22 , and the two PP sheet feeding tables 20 are respectively fixed on the two L-shaped bearing frames 24 .

In order to better cooperate with the circuit board material layer pre-stacking equipment, in this embodiment, the rack 1 is further provided with a feeding table lifting and lowering driving mechanism 25 for driving the vertical support 22 to rise or fall. And it is fixedly connected with the driving end of the lifting and lowering driving mechanism 25 of the loading table through the L-shaped carrier frame 24 .

Embodiment 4

The pre-lamination process of circuit boards inevitably involves the core board feeding step. The multi-layer core board raw materials are usually stacked and placed in the material box. In order to avoid friction between adjacent core boards, a spacer paper needs to be placed between the two core boards. , so as to play a protective role. When performing the pre-lamination step, after the top core board is removed, the separator paper needs to be taken out and collected for reuse. The above process belongs to the material distribution and reclaiming process of the core board and the separator. At present, the above processes are all completed manually, so not only the work efficiency is low, but also the labor cost is high, lack of automation performance, and cannot meet the requirements of automated production.

In this regard, the present embodiment proposes a core board material sorting and reclaiming device that can automatically complete the core board and separator work without manual participation, save labor costs, and have more automatic performance. 9 to FIG. 14, it includes a frame 1, and the frame 1 is provided with a transfer table 4, a core board feeding mechanism 5, a paper separator feeding mechanism 6 and a sliding carrier 7, and the transfer table is provided. 4. The core board feeding mechanism 5 and the paper separator unloading mechanism 6 are arranged in turn from left to right, and the core board feeding manipulator 10 and the paper separator blanking manipulator 11 are arranged on the sliding carrier 7. The feeding mechanism 5 includes a core board feeding box 50, the core board feeding box 50 contains a plurality of stacked core boards, and a spacer paper is sandwiched between two adjacent core boards, and the spacer paper The unloading mechanism 6 includes a paper-separated unloading box 60, and the core board feeding manipulator 10 includes a loading slide 13 and a loading translation drive mechanism 130 for driving the loading slide 13 to slide left and right. A lift drive module 131 is fixed on the loading slide table 13, and the lift drive module 131 is used to drive a loading arm 132 to rise or fall, and a long upper arm 132 is fixed on the loading arm 132. The feeding suction claws 133, the two feeding suction claws 133 are parallel to each other, and the two feeding suction claws 133 are respectively aligned with the edges on both sides of the core board. The feeding suction nozzles 134 for adsorbing the core board are arranged in sequence along the length direction of the feeding suction claws 133 . 131. The cooperation of the feeding suction claw 133 and the feeding suction nozzle 134 picks up the core board in the core board feeding box 50 by means of negative pressure adsorption, and transfers the core board to the transfer On stage 4, the structure of the paper-separator blanking manipulator 11 is the same as that of the core board feeding manipulator 10, and the paper-separator blanking manipulator 11 is used to pick up the core board material by means of negative pressure adsorption The spacer paper in the box 50 is transferred to the spacer paper unloading box 60 .

During the execution of the above-mentioned core board material distributing and reclaiming device, the core board feeding manipulator 10 is first translated to the top of the core board feeding box 50, and at this time, the separator paper feeding manipulator 11 is located on the separator paper. Above the unloading box 60, when the core board feeding robot 10 takes the core board, the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to descend, and the feeding suction nozzle 134 inhales and generates negative pressure, and uses the negative pressure to absorb the core board, and then the lifting driving module 131 drives the feeding arm 132 and the feeding suction claw 133 to rise, and then the feeding is moved in translation. The driving mechanism 130 drives the loading slide table 13 to translate until the core board is transferred to the top of the transfer table 4, and finally the lift driving module 131 drives the loading support arm 132 and the loading suction The claw 133 descends, the feeding nozzle 134 stops inhaling, and the core board is placed on the transfer table 4; The structure of the paper-separator blanking manipulator 11 is the same as that of the core board feeding manipulator 10. Therefore, the paper-separation blanking manipulator 11 only needs to follow the above-mentioned action process and also pick up all the parts by negative pressure adsorption. The separation paper in the core board feeding box 50 is removed, and the separation paper is transferred to the separation paper feeding box 60 to complete the separation paper feeding step. Compared with the prior art, the invention better completes the automatic material separation and reclaiming process of the core board separator, which not only improves the production efficiency, but also effectively saves the production cost, thereby meeting the production demand.

In order to achieve up and down movement, in this embodiment, a vertical sliding block 136 is fixed on the feeding sliding table 13, and a vertical sliding rail 137 is fixed on the feeding support arm 132. The vertical sliding rail 137 passes through Through the vertical sliding block 136 and the two slidingly cooperate, the lifting driving module 131 is fixed on the feeding support arm 132, and the driving end of the lifting driving module 131 is connected to the feeding sliding table 13.

In order to further improve the structural stability, in this embodiment, two vertical sliding rails 137 parallel to each other are fixed on the feeding support arm 132 , and four vertical sliding blocks 136 are fixed on the feeding sliding table 13 . , each vertical sliding rail 137 passes through two vertical sliding blocks 136 correspondingly.

Further, the feeding support arm 132 is an "L"-shaped support arm.

As a preferred manner, the elevating driving module 131 is fixed on the vertical portion of the feeding support arm 132 .

In order to fix the two feeding suction claws 133, in this embodiment, a feeding beam 138 is fixed on the horizontal part of the feeding support arm 132, and the two feeding suction claws 133 are respectively fixed on the upper Both ends of the material beam 138.

In order to better eliminate static electricity, in this embodiment, the frame 1 is provided with a static electricity elimination mechanism 56, the static electricity elimination mechanism 56 is arranged adjacent to the core board feeding mechanism 5, and the static electricity elimination mechanism 56 is used for blowing negative ion wind to the core board feeding mechanism 5 .

This embodiment also relates to a method for separating and reclaiming materials for a core board. With reference to FIGS. 1 and 9 to 14 , the reclaiming method is implemented based on a reclaiming device, including a frame 1 , and the frame 1 There is a transfer table 4, a core board feeding mechanism 5, a paper separator feeding mechanism 6 and a sliding carrier 7, and the transfer table 4, the core board feeding mechanism 5 and the paper separator feeding mechanism 6 are from left to right. Arranged sequentially, the sliding carrier 7 is provided with a core board feeding manipulator 10 and a paper separator unloading manipulator 11, the core board feeding mechanism 5 includes a core board feeding box 50, the core board feeding The box 50 contains a plurality of stacked core boards, and a spacer is sandwiched between two adjacent core boards. The manipulator 10 includes a feeding sliding table 13 and a feeding translation driving mechanism 130 for driving the feeding sliding table 13 to slide left and right. A lifting driving module 131 is fixed on the feeding sliding table 13, and the lifting driving The module 131 is used to drive a feeding support arm 132 to ascend or descend. The feeding support arm 132 is fixed with a long strip of feeding suction claws 133. The two feeding suction claws 133 are parallel to each other, and the two upper The material suction claws 133 are respectively aligned with the edges on both sides of the core board. A plurality of material feeding suction nozzles 134 for adsorbing the core board are fixed on the material feeding suction claws 133 , and a plurality of material feeding suction nozzles 134 The feeding suction claws 133 are arranged in sequence along the length direction, and the reclaiming method includes the following steps:

In step S20, the core board feeding manipulator 10 is translated to the top of the core board feeding box 50, and at this time, the separator paper feeding manipulator 11 is located above the paper separator feeding box 60;

In step S21, the lift driving module 131 drives the feeding arm 132 and the feeding suction claw 133 to descend, the feeding suction nozzle 134 inhales and generates negative pressure, and uses the negative pressure to absorb the core board ;

In step S22, the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to rise, and then the feeding translation drive mechanism 130 drives the feeding sliding table 13 to translate until the The core board is transferred to the top of the transfer table 4;

In step S23, the elevating driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to descend, the feeding suction nozzle 134 stops inhaling, and the core board is placed on the transfer table 4 on;

The structure of the paper-separating blanking robot 11 is the same as that of the core board feeding robot 10. The paper-separating and blanking robot 11 picks up the The separator paper in the core board feeding box 50 is transferred to the separator paper unloading box 60 .

Embodiment 5

In the actual application process, when the preset manipulator takes out the core board and the spacer paper from the material box, in order to avoid the occurrence of wrong material removal, it is necessary to accurately distinguish the core board and the spacer paper. The existing identification method is manual. In the way of observation, this kind of distinguishing measure is not only inefficient, but also prone to material retrieval errors due to operator fatigue, which seriously affects the production quality of circuit boards and cannot meet production requirements.

In this regard, this embodiment proposes a core board separator paper separation detection device that can improve the accuracy and reliability of the core board reclaiming process, while improving the production quality of circuit boards, and has more automatic performance. 11 to FIG. 14, it includes a frame 1, on which is provided a core board feeding mechanism 5 and a sliding carrier 7, and the sliding carrier 7 is provided with a core board feeding manipulator 10 and the paper separator unloading manipulator 11, the core board feeding mechanism 5 includes a core board feeding box 50, and the core board feeding box 50 contains a plurality of stacked core boards, and two adjacent core boards are A separator is sandwiched between the boards, and the core board feeding manipulator 10 is used to pick up the core boards in the core board feeding box 50 by means of negative pressure adsorption. The core board feeding manipulator 10 includes an upper The color sensor 139 is installed on the feeding beam 138, the sensing end of the color sensor 139 is arranged downward, and the structure of the paper separator feeding manipulator 11 is the same as that of the core board. The structure of the feeding manipulator 10 is the same. The paper separator feeding manipulator 11 is used to pick up the separator paper in the core board feeding box 50 by means of negative pressure adsorption. The form of the signal is fed back to the preset controller, and the controller judges whether the core board feeding manipulator 10 picks up the core board according to the electrical signal fed back by the color sensor 139, and judges whether the paper separator feeding manipulator 11 Pick up the separator paper.

In the above structure, the core board feeding robot 10 and the paper separator blanking manipulator 11 are used to reclaim the core board and the separator paper respectively, and at the same time, the core board feeding manipulator 10 and the separator paper blanking manipulator 11 are respectively used. A color sensor 139 is configured. Taking the core board feeding manipulator 10 as an example, the color sensor 139 installed on the feeding beam 138 is used. When the core board feeding manipulator 10 picks up the core board, it passes through the According to the color data fed back by the color sensor 139, the preset controller can determine whether the core board feeding manipulator 10 picks up the core board or the spacer paper according to the color data. action, the controller can issue an alarm prompt in time, and correspondingly, the paper separator blanking manipulator 11 also has the function of color collection and judgment. Based on the above-mentioned principle, the present invention can greatly improve the accuracy of the separation process of the core board and the separator, effectively avoid the occurrence of wrong material picking, help to improve the production quality of the circuit board, and has more automatic performance.

Based on the above-mentioned color sensor, this embodiment is not only used for distinguishing the core board and the separator, but also for picking up sheets such as films. At the same time, the color sensor is not limited to detecting different types of sheets, and can also detect a single sheet For example, when the manipulator picks up multiple sheets of film, the color depth is different from that of a single film, and the color data fed back is also different. According to the color difference, the controller can judge that the manipulator picks up Whether it is a single piece or multiple pieces, thus improving the accuracy of the reclaiming process, and at the same time, it can also issue an alarm prompt to the user in time, which not only improves the accuracy, but also further improves the automation performance.

As a preferred manner, the core plate feeding manipulator 10 includes two feeding suction claws 133 parallel to each other, and the two feeding suction claws 133 are respectively fixed to both ends of the feeding beam 138 .

In order to collect the sheet color more accurately, in this embodiment, the color sensor 139 is located between the two feeding suction claws 133 .

On this basis, this embodiment also has the function of reclaiming and detecting, specifically, the core plate feeding mechanism 5 includes a detecting cylinder 51, and the detecting cylinder 51 is fixed on the frame 1, and the detecting A feeding induction mechanism 52 is fixed on the telescopic shaft of the air cylinder 51. When the core board feeding manipulator 10 picks up the core board or the separator paper feeding manipulator 11 picks up the separator paper, the detection cylinder 51 drives the feeding The sensing mechanism 52 protrudes into the core board feeding box 50, and when the loading sensing mechanism 52 senses the core board or the separator, an electrical signal is fed back to the controller. Based on the above structure, it is helpful for the controller to judge whether the manipulator has accurately fetched the sheet material, thereby further improving the accuracy and reliability of the fetching action.

In order to play a better supporting role, in this embodiment, the material loading induction mechanism 52 includes an induction bracket 520 and a material sensor 521, and the induction bracket 520 is fixedly connected with the telescopic shaft of the detection cylinder 51, so The material sensor 521 is fixed on the sensing bracket 520 .

As a preferred manner, the material sensor 521 is an infrared pair tube sensor or a proximity switch.

Embodiment 6

In practical applications, in the process of core board feeding and separator paper blanking, it is generally necessary to use a material box to load raw materials and separator paper, and at the same time, it is necessary to manually place the material box on the core board reclaiming station and the separator paper blanking station. After the picking and unloading is completed, the material box is manually replaced. The whole process is not only cumbersome, but also requires a lot of manpower, low work efficiency, and high labor costs, which cannot meet production needs.

In this regard, the present embodiment proposes a material box transfer mechanism that is helpful for realizing automatic picking and placing of the material box, thereby improving the loading and unloading efficiency of the core board and the separator, and saving labor costs at the same time. 15, it includes a frame 1, a core board material car 15 and a paper separator material car, and the frame 1 is provided with a core board feeding mechanism 5 and a paper separator feeding mechanism 6, wherein:

Below the core board feeding mechanism 5 is a first material parking space 53 that can be pushed into the core board material cart 15 . The core board material cart 15 is provided with a first material box lifting mechanism 55 . The core board feeding box 50 is placed on the lifting end of the box lifting mechanism 55 , and the core board feeding mechanism 5 includes a first locking mechanism 54 . When the core board material cart 15 is pushed into the first material parking space 53 , the core board material cart 15 is fixed to the first material parking space 53 by the first locking mechanism 54 , and then the core board material box 50 is driven by the first material box lifting mechanism 55 rise to a preset height;

A second material parking space 63 that can be pushed into the paper-separator material cart is arranged below the paper-separator blanking mechanism 6, and a second material box lifting mechanism is provided on the paper-separator material car. The second material box A paper separator feeding box 60 is placed on the lifting end of the lifting mechanism, and the paper separator feeding mechanism 6 includes a second locking mechanism. When the paper separator material cart is pushed into the second material parking space 63, the The second locking mechanism fixes the paper separation material cart on the second material parking space 63 , and the second material box lifting mechanism drives the paper separation material box 60 to rise to a preset height.

In the above structure, a first material parking space 53 and a second material parking space 63 are respectively provided below the core board feeding mechanism 5 and the paper separator feeding mechanism 6. During the process of taking out and changing the material box, It is only necessary to push the core board material trolley 15 and the paper separator material trolley into the first material parking space 53 and the second material parking space 63, respectively, and lock the core board material trolley 15 and the paper separator material trolley. After the mechanism is fixed, the material box lifting mechanism on the two material carts can be used to drive the material box to rise to the preset picking and discharging height. The process of picking and placing the material box can be completed automatically. The action process is simple and reliable, not only saving time and effort, but also Moreover, the labor cost is saved, the work efficiency of the circuit board material layer pre-lamination equipment is improved, and the production demand is better satisfied.

In order to position the material box after the material box rises to the preset height, in this embodiment, at least two first positioning cylinders 54 are fixed on the frame 1, and the first positioning cylinders 54 are respectively arranged in the On both sides of the core board feeding box 50, a first positioning block 540 is fixed on the telescopic shaft of the first positioning cylinder 54. When the first material box lifting mechanism 55 drives the core board feeding box 50 to rise When reaching the preset height, the first positioning cylinder 54 drives the first positioning block 540 to extend, and the first positioning blocks 540 on both sides of the core board feeding box 50 are used to align the core board feeding box 50 . 50 for clamping and positioning.

In practical application, the core board material cart 15 and the paper separator material cart have the same structure. In order to facilitate the movement of the material cart, in this embodiment, the bottom of the core board material cart 15 is provided with four universal wheels 150 . .

Further, the side portion of the core material cart 15 is provided with a vertically arranged handrail 151 .

In order to realize batch transportation, in this embodiment, at least two core board material boxes 50 are placed on the lifting end of the first material box lifting mechanism 55 .

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. All modifications, equivalent replacements or improvements made within the technical scope of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A PP sheet reclaiming device, characterized in that it comprises a frame (1), and the frame (1) is provided with a PP sheet feeding mechanism (2), a pre-stacking table (3) and a sliding bearing A rack (7), a PP sheet (100) is placed on the PP sheet feeding mechanism (2), a PP reclaiming robot (8) is arranged on the sliding carrier (7), and the PP reclaiming robot ( 8) It includes a reclaiming slide table (80) and a reclaiming translation drive mechanism (81) for driving the reclaiming slide table (80) to slide left and right, and two reclaiming slides (80) are fixed on the reclaiming slide table (80). A reclaiming and lifting cylinder (82) is used to drive a reclaiming arm (83) to rise or fall, and a long reclaiming arm (83) is fixed on the reclaiming arm (83). Suction claws (84), the two reclaiming claws (84) are parallel to each other, and the two reclaiming claws (84) are respectively aligned with the edges on both sides of the PP sheet (100). A plurality of reclaiming nozzles (85) for adsorbing the PP sheet (100) are fixed on the (84), and the plurality of reclaiming nozzles (85) are arranged in sequence along the length direction of the reclaiming and sucking claw (84), The PP sheet feeding mechanism (2) is picked up by means of negative pressure adsorption by the cooperation of the reclaiming translation drive mechanism (81), the reclaiming lifting cylinder (82) and the reclaiming suction nozzle (85). and transfer the PP sheet (100) to the pre-stacking table (3). 2. The PP sheet reclaiming device according to claim 1, characterized in that, the reclaiming translation drive mechanism (81) is a motor screw drive mechanism. 3. The PP sheet reclaiming device according to claim 1, characterized in that, the telescopic shaft of the reclaiming lifting cylinder (82) is fixedly connected to the reclaiming slide table (80), and the reclaiming The casing of the lifting cylinder (82) drives the reclaiming support arm (83) to ascend or descend. 4. The PP sheet reclaiming device according to claim 3, characterized in that, a shaking cylinder (86) is fixed on the shell of the reclaiming lifting cylinder (82), and the reclaiming arm (83) is provided with a shaking cylinder (86). On the shaking cylinder (86), the reclaiming arm (83) is driven to rise or fall by the shaking cylinder (86). 5. The PP sheet reclaiming device according to claim 4, characterized in that, the reclaiming support arm (83) is in an "L" shape. 6. The PP sheet reclaiming device according to claim 5, characterized in that the telescopic shaft of the shaking cylinder (86) is fixedly connected with the casing of the reclaiming lifting cylinder (82), and the shaking cylinder (86) The shell of 86) is fixedly connected with the vertical part of the reclaiming support arm (83), and the reclaiming suction claw (84) is fixedly connected with the horizontal part of the reclaiming support arm (83). 7. The PP sheet reclaiming device according to claim 1, wherein the PP sheet feeding mechanism (2) comprises two PP sheet feeding tables (20), two PP sheet feeding tables (20) up and down Set up with a preset distance between the two, the sliding carrier (7) is provided with two PP reclaiming robots (8), and the two PP reclaiming robots (8) are arranged up and down, and the PP reclaiming robots (8) are arranged up and down. The feeding manipulator (8) corresponds to the PP sheet feeding table (20) one-to-one, and the PP sheet (100) is respectively picked up from the two PP sheet feeding stations (20) by the two PP feeding manipulators (8), and the PP sheet (100) is picked up according to the preset. The stacking sequence is set to be placed on the pre-stacking platform (3). 8. A PP sheet reclaiming method, characterized in that, the reclaiming method is realized based on a reclaiming device, and the reclaiming device comprises a frame (1), and the frame (1) is provided with PP A sheet feeding mechanism (2), a pre-stacking table (3) and a sliding carrier (7), a PP sheet (100) is placed on the PP sheet feeding mechanism (2), and a PP sheet (100) is placed on the sliding carrier (7) A PP material reclaiming manipulator (8) is provided, and the PP material reclaiming manipulator (8) includes a reclaiming slide table (80) and a reclaiming translation drive mechanism (80) for driving the reclaiming slide table (80) to slide left and right. 81), two reclaiming and lifting cylinders (82) are fixed on the reclaiming sliding table (80), and the reclaiming and lifting cylinders (82) are used to drive a reclaiming arm (83) to rise or fall, so Long strip-shaped reclaiming suction claws (84) are fixed on the reclaiming support arm (83), two reclaiming suction claws (84) are parallel to each other, and the two reclaiming suction claws (84) are respectively connected to the PP The edges on both sides of the sheet (100) are aligned, and a plurality of reclaiming nozzles (85) for adsorbing the PP sheet (100) are fixed on the reclaiming claw (84). ) are arranged in sequence along the length direction of the reclaiming suction claw (84), and the reclaiming method includes: Step S10, the reclaiming translation drive mechanism (81) drives the reclaiming slide table (80) to translate until the reclaiming suction claw (84) is translated above the PP sheet feeding mechanism (2); Step S11, the reclaiming lifting cylinder (82) drives the reclaiming arm (83) and the reclaiming suction claw (84) to descend, so that the reclaiming suction nozzle (85) is close to the PP sheet the PP sheet (100) on the feeding mechanism (2); In step S12, the reclaiming suction nozzle (85) inhales and generates negative pressure, and uses the negative pressure to adsorb the PP sheet (100) on the top layer on the two reclaiming suction claws (84). Step S13, the reclaiming lift cylinder (82) drives the reclaiming support arm (83) and the reclaiming suction claw (84) to rise, and loads the PP sheet (100) on the top layer from the PP sheet mechanism (2) take out; In step S14, the reclaiming translation drive mechanism (81) drives the reclaiming sliding table (80) to translate until the reclaiming suction claw (84) is moved above the pre-stacking platform (3); In step S15, the reclaiming lifting cylinder (82) drives the reclaiming support arm (83) and the reclaiming suction claw (84) to descend until the PP sheet (100) is placed on the pre-stacking table (84). 3), then the reclaiming nozzle (85) stops inhaling; Step S16, the reclaiming lifting cylinder (82) drives the reclaiming arm (83) and the reclaiming suction claw (84) to rise, and the reclaiming suction nozzle (85) and the PP sheet (100) ) is separated, and then the PP sheet (100) is left on the pre-stack (3). 9. PP sheet reclaiming method as claimed in claim 8, is characterized in that, described step S13 also comprises shaking step: After the reclaiming lifting cylinder (82) drives the reclaiming support arm (83) and the reclaiming suction claw (84) to rise, the reclaiming translation drive mechanism (81) drives the reclaiming slide table (80) Jitter left and right. 10. The PP sheet reclaiming method according to claim 9, characterized in that, a shaking cylinder (86) is arranged on the reclaiming lifting cylinder (82), and the reclaiming arm (83) is arranged on the On the shaking cylinder (86), the reclaiming arm (83) is driven to rise or fall by the shaking cylinder (86). In the shaking step: The reclaiming arm (83) and the reclaiming suction claw (84) are driven to shake up and down by the shaking cylinder (86), and the reclaiming suction nozzle (85) The adsorbed excess PP sheet (100) is shaken off on the PP sheet feeding mechanism (2).

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